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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef POSE_FOLLOWER_POSE_FOLLOWER_H_
#define POSE_FOLLOWER_POSE_FOLLOWER_H_

#include <ros/ros.h>
#include <tf2/convert.h>
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/buffer.h>
#include <nav_core/base_local_planner.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <pose_follower/PoseFollowerConfig.h>
#include <dynamic_reconfigure/server.h>
#include <base_local_planner/trajectory_planner_ros.h>

namespace pose_follower
{
class PoseFollower : public nav_core::BaseLocalPlanner
{
public:
    PoseFollower();

    ~PoseFollower();

    void initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros);

    bool isGoalReached();

    bool setPlan(const std::vector<geometry_msgs::PoseStamped> &global_plan);

    bool computeVelocityCommands(geometry_msgs::Twist &cmd_vel);

private:
    inline double sign(double n) { return n < 0.0 ? -1.0 : 1.0; }

    geometry_msgs::Twist diff2D(const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2);

    geometry_msgs::Twist limitTwist(const geometry_msgs::Twist &twist);

    double headingDiff(double pt_x, double pt_y, double x, double y, double heading);

    bool transformGlobalPlan(const tf2_ros::Buffer &tf, const std::vector<geometry_msgs::PoseStamped> &global_plan,
                             const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame,
                             std::vector<geometry_msgs::PoseStamped> &transformed_plan);

    void odomCallback(const nav_msgs::Odometry::ConstPtr &msg);

    bool stopped();

    void publishPlan(const std::vector<geometry_msgs::PoseStamped> &path, const ros::Publisher &pub);

    void reconfigureCB(pose_follower::PoseFollowerConfig &config, uint32_t level);

    tf2_ros::Buffer *tf_;
    costmap_2d::Costmap2DROS *costmap_ros_;
    ros::Publisher global_plan_pub_;
    boost::mutex odom_lock_;
    ros::Subscriber odom_sub_;
    nav_msgs::Odometry base_odom_;
    ros::Time goal_reached_time_;
    unsigned int current_waypoint_;
    std::vector<geometry_msgs::PoseStamped> global_plan_;
    base_local_planner::TrajectoryPlannerROS collision_planner_;
    dynamic_reconfigure::Server<pose_follower::PoseFollowerConfig> *dsrv_;

    // Parameters
    double max_vel_lin_, max_vel_th_;
    double min_vel_lin_, min_vel_th_;
    double min_in_place_vel_th_, in_place_trans_vel_;
    double trans_stopped_velocity_, rot_stopped_velocity_;
    double K_trans_, K_rot_, tolerance_trans_, tolerance_rot_;
    double tolerance_timeout_;
    int samples_;
    bool allow_backwards_;
    bool turn_in_place_first_;
    double max_heading_diff_before_moving_;
    bool holonomic_;
};
};

#endif
